PROJECT TITLE :

A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors

ABSTRACT:

This paper introduces a brand new five-D localization methodology for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup could be a 2d array (8 × 8) of mono-axial Hall-result sensors, that measure the perpendicular magnetic fields at their given positions. We have a tendency to introduce two steps for localizing a magnetic robot a lot of accurately. First, the dipole-modeled magnetic field of the electromagnet is subtracted from the measured information in order to work out the robot's magnetic field. Second, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, thus that the result of the electromagnetic field in the localization process is minimized. Five variables relating to the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled magnetic field in an optimization methodology. The resulting position error is two.1 ± zero.eight mm and angular error is 6.seven ± 4.three° among the applicable vary (five cm) of magnetic field sensors at two hundred Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.